Advertisement

A Simulation Study and Experimental Verification of Hand-Eye-Calibration using Monocular X-Ray

  • Petra Dorn
  • Peter Fischer
  • Holger Mӧnnich
  • Philip Mewes
  • Muhammad Asim Khalil
  • Abhinav Gulhar
  • Andreas Maier
Conference paper
Part of the Informatik aktuell book series (INFORMAT)

Zusammenfassung

In this paper, the simultaneous hand-eye/robot-world problem AX = ZB is performed using a single X-ray image instead of a stereo camera in order to avoid the additional tracking device. Our setup consists of a special X-ray marker, several image preprocessing steps, and a monocular pose estimation algorithm, for extracting the 6- D pose of the marker with respect to the X-ray source. Simulations are performed to investigate the behavior of the proposed hand-eye method when including inaccuracies of the robot and the non-isotropic errors of monocular pose estimation. The simulations were evaluated in an experimental setup, reaching an accuracy of 0.06 and 0.77mm.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Literatur

  1. 1.
    Zhuang H, Roth ZS, Sudhakar R. Simultaneous robot/world and tool/flange calibration by solving homogeneous transformation equations of the form AX=YB. IEEE Trans Rob Autom. 1994;10(4):549–554.Google Scholar
  2. 2.
    Dornaika F, Horaud R. Simultaneous robot-world and hand-eye calibration. IEEE Trans Rob Autom. 1998;14(4):617–622.Google Scholar
  3. 3.
    Shah M. Solving the robot-world/hand-eye calibration problem using the Kronecker product. J Mech Robot. 2013;5(3):031007–1–031007–7.Google Scholar
  4. 4.
    Li A, Wang L, Wu D. Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product. Int J Phys Sci. 2010;5(10):1530–1536.Google Scholar
  5. 5.
    Hirsh RL, DeSouza GN, Kak AC. An iterative approach to the hand-eye and baseworld calibration problem. In: IEEE Int Conf Robot Autom. vol. 3. IEEE; 2001. p. 2171–2176.Google Scholar
  6. 6.
    Maier A, Choi JH, Keil A, et al. Analysis of vertical and horizontal circular C-arm trajectories. Proc SPIE. 2011;7961:7961231–8.Google Scholar
  7. 7.
    Marchand É, Spindler F, Chaumette F. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robot Autom Mag. 2005;12(4):40–52.Google Scholar
  8. 8.
    Dementhon DF, Davis LS. Model-based object pose in 25 lines of code. Int J Comput Vis. 1995;15(1):123–141.Google Scholar
  9. 9.
    Lowe DG. Robust model-based motion tracking through the integration of search and estimation. Int J Comput Vis. 1992;8(2):113–122.Google Scholar
  10. 10.
    Ernst F, Richter L, Matthäus L, et al. Non-orthogonal tool/flange and robot/world calibration. Int J Med Robot. 2012;8(4):407–420.Google Scholar

Copyright information

© Springer-Verlag GmbH Deutschland 2018

Authors and Affiliations

  • Petra Dorn
    • 1
  • Peter Fischer
    • 1
    • 2
  • Holger Mӧnnich
    • 2
  • Philip Mewes
    • 2
  • Muhammad Asim Khalil
    • 3
  • Abhinav Gulhar
    • 2
  • Andreas Maier
    • 1
  1. 1.Lehrstuhl für MustererkennungFAU Erlangen-NürnbergErlangenDeutschland
  2. 2.Siemens Healthcare GmbHForchheimDeutschland
  3. 3.K-tronik GmbHGarchingDeutschland

Personalised recommendations